Problems with Lichuan Ethercat servo drive

Actually we are using 7.3 Periodic synchronous position mode (CSP mode)
 

It looks like even in CSP mode, there is an option for Velocity Feed Forward. This is one of the biggest improvements a control loop can have. Has anyone tried this? 
60B1h 00 Speed offset

 

 Please note this is not in anyway final. I just wanted to show how I am running and homing a gantry.
I would like to use the actual captured value of the index pulse, not just let LinuxCNC know that it's been hit, but at slow speeds it doesn't matter in my case.
 
 

   
 

more files



 

Copying the velocity FF command from the comp file to the XML file significantly reduces following error to a ramp. I haven't really tuned the drive yet. If anyone has found an auto-tune button, please let me know.

.comp
  drv_target_velocity = (int32_t) (velocity_cmd * velo_scale);

.xml
<pdoEntry idx="60B1" subIdx="00" bitLen="32" halPin="target-velocity" halType="s32"/>